You will need to replace the pads if the sensor is touching the disc. Also make sure the discs are still serviceable (at or above minimum thickness)

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The sensor never touches the disc until about roughly 50% of the inner pad has worn. At this point, the raised hump on the sensor touches the disc. This is the first trip and tells the DSC module to start the actual countdown (after the plastic has worn down a bit more). The countdown that occurs before this first trip stage is purely estimation.

The second stage is when the hump has almost completely worn away. This

Same from you....

But I won't argue.

From 2014, 3 years ago my post on break pad sensor and how it wears and works with pictures:

About washing the wheels removing the noise, it is easy to test for anyone, get a good car wash with the wheel cleaning option and see if it removes it. Mine is just a theory, based on me not having that noise for a long while now. It may not be the reason, it may be the reason.

Wish I took pictures, (I did but they did not come out very good) but found the squeaking brake issue (0 to 20mph) . I marked the dust plate edging behind the parking E-brake and found it to be running in the groove of the Rotor. I switched out to Brembo rotors which have a deeper groove and remarked edging and no longer rubbing and squealing. Issue solved. Either grind the edge of backing plate or switch to rotors with deeper groove.

Also, could this issue cause the e-brake / wheel to seize rather than just squeaking? I've had the squeaking for awhile, but just experienced a brake seize after parking the car for a couple of weeks. When I tried to pull away in 1st, the rear end squatted, front lifted - that seems more likely to be an issue with the actual ebrake seizing rather than this brake shield issue, right?

Note: I did not have the e brake on while it was parked for 2 weeks, it was in my garage, sitting in 3rd gear.

Thank you for sharing this. After sitting for several months during some maintenance/repairs/mods a while back my car was doing this in a bad way. I assumed dust shield straight off but it didn't look like it was because I only looked around the outside of the rotor. This makes sense. Now that I drive it everyday, though, it's been squeak-free for months.